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<h1>mdl_phantomx</h1><p><span class="helptopic">Create model of PhantomX pincher manipulator</span></p><pre style="width: 90%%;" class="examples">
mdl_phantomx
</pre>
<p>
Script creates the workspace variable px which describes the
kinematic characteristics of a PhantomX Pincher Robot, a 4 joint hobby
class  manipulator by Trossen Robotics.

</p>
<p>
Also define the workspace vectors:

</p>
<table class="list">
  <tr><td style="white-space: nowrap;" class="col1"> qz</td> <td>zero joint angle configuration</td></tr>
</table>
<h2>Notes</h2>
<ul>
  <li>the x-axis is forward, and the z-axis is upwards.</li>
  <li>uses standard DH conventions.</li>
  <li>Tool centrepoint is middle of the fingertips.</li>
  <li>all translational units in mm.</li>
</ul>
<h2>Reference</h2>
<ul>
  <li>http://www.trossenrobotics.com/productdocs/assemblyguides/phantomx-basic-robot-arm.html</li>
</ul>
<hr>

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<p class="copy">&copy; 1990-2012 Peter Corke.</p>
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